Study On The Light Control Function Of Carp Robot

Biological robots are the cutting-edge high-tech fields of multidisciplinary intersecting in the world.Based on the previous research,this paper combined binocular vision technology,carp behavior experiment and light stimulation experiment to complete the research on the light control effect of carp robot.This article combines with dissection experiment of carp skull,to master the structure and location of the skull and brain tissue,and found that the carp skull surface has an obvious anatomy sign.Select the appropriate site to carry a home-made light stimulation device.In computer vision,the binocular vision system is built and the calibration of the binocular camera is completed.MATLAB's calibration toolbox is used to calibrate the binocular camera to obtain the internal parameters and external parameters of the binocular camera.The internal parameters include the focal length and the optical center coordinates.The external parameters include the rotation vector and the translation vector.Through phototaxis experiments,selectivity experiments,and reflection training experiments,it was proved that carps can perceive light,have negative phototaxis,and carp have color vision.The carp prefers green and yellow light,especially with a clear preference for green light,and it is very sensitive to blue and red light.In computer vision,median filtering is performed on continuous images,and moving target is extracted using mixed Gaussian modeling.BRISK feature extraction is used to extract target feature points.The two-dimensional motion coordinate points were obtained,and the two-dimensional motion trajectory of the carp robot under light stimulation was drawn.The parallax method was used to convert the two-dimensional coordinates of the found target feature points into three-dimensional coordinates,so as to obtain the motion parameters of the carp robot at different light intensities,different wavelengths,and different positions.The corresponding line chart is drawn.Then the 3D motion trajectory reconstruction of the carp robot was completed.Different light intensity,different wavelengths,and different positions of light sources were used to carry out light induction experiments on carp robots.The results of the induction experiments were statistically analyzed.The experimental results prove that the binocular vision system can be used to detect the light stimulation effect of carp robots,And light control carp robot is feasible.